Doosan H2017 - Page 88

Doosan Robotics User Manual v2.6.1
88
Signal Name
Description
 Low: Remote Control Mode disabled.
• Safety Output Setting
Signal Name
Description
Emergency Stop (L)
It is used to notify that emergency stop is required to
peripheral devices, such situation as
- Emergency Stop Button is pushed on robot accessories
(Teach pendant, Smart Pendant, Emergency Button Box)
- Emergency Stop from the dedicated Safety Input
- Emergency Stop (L) from the configurable Safety Input
- Emergency Stop – No Loopback(L) from the configurable
Safety Input.
 High: Normal operation
Low: Emergency stop required
Emergency Stop – excl.
No Loopback Input (L)
It is used to notify that emergency stop is required to
peripheral devices, such situation as
- Emergency Stop Button is pushed on robot accessories
(Teach pendant, Smart Pendant, Emergency Button Box)
- Emergency Stop from the dedicated Safety Input
- Emergency Stop (L) from the configurable Safety Input
The case of Emergency Stop – No Loopback(L) from the
configurable Safety Input is EXCLUDED.
Deadlocks can be avoided by not sending back the
emergency stop signal to the peripheral device that originally
sending emergency stop signal to robot.
 High: Normal operation
 Low: Emergency stop required
Safe Torque Off (L)
 High: Robot is not in Servo Off, Emergency Stop state
 Low: Robot is in Servo Off or Emergency Stop state
Safe Operating Stop (L)
 High: Robot is not in Standby state
 Low: Robot is in Standby state, and standstill monitoring is
activated.
Abnormal (L)
 High: Robot is not in Interrupted, Recovery, Auto Measure
state
 Low: Robot is in Interrupted, Recovery, or Auto Measure
state
Normal Speed (L)
 High: Robot is operating at the reduced speed due to
external Reduced Speed Activation safety input
 Low: Robot is operating as normal speed